Related papers: Enhancing Security in Multi-Robot Systems through …
Multi-robot systems (MRSs) are valuable for tasks such as search and rescue due to their ability to coordinate over shared observations. A central challenge in these systems is aligning independently collected perception data across space…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
The task of maximizing coverage using multiple robots has several applications such as surveillance, exploration, and environmental monitoring. A major challenge of deploying such multi-robot systems in a practical scenario is to ensure…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…
Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to ensure humans are not harmed and nearby objects are not…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
Cyber Physical Systems (CPS) are becoming ubiquitous and affect the physical world, yet security is seldom at the forefront of their design. This is especially true of robotic control algorithms which seldom consider the effect of a cyber…
We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot…
Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the…
Real-time multi-robot coordination in hazardous and adversarial environments requires fast, reliable adaptation to dynamic threats. While Large Language Models (LLMs) offer strong high-level reasoning capabilities, the lack of safety…
In multi-robot system (MRS) applications, efficient task assignment is essential not only for coordinating agents and ensuring mission success but also for maintaining overall system security. In this work, we first propose an…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…
It will be increasingly common for robots to operate in cluttered human-centered environments such as homes, workplaces, and hospitals, where the robot is often tasked to maintain perception constraints, such as monitoring people or…